| ID | 57751 |
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| Author |
Kamegawa, Tetsushi
Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University,
Kaken ID
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Akiyama, Taichi
Graduate School of Natural Science and Technology, Okayama University
Sakai, Satoshi
Graduate School of Natural Science and Technology, Okayama University
Fujii, Kento
Graduate School of Natural Science and Technology, Okayama University
Une, Kazushi
Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University,
Ou, Eitou
Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University,
Matsumura, Yuto
Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University,
Kishutani, Toru
Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University,
Nose, Eiji
Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University,
Yoshizaki, Yusuke
Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University,
Gofuku, Akio
Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University,
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| Abstract | In this study, we propose a new robot system consisting of a mobile robot and a snake robot. The system works not only as a mobile manipulator but also as a multi-agent system by using the snake robot's ability to separate from the mobile robot. Initially, the snake robot is mounted on the mobile robot in the carrying mode. When an operator uses the snake robot as a manipulator, the robot changes to the manipulator mode. The operator can detach the snake robot from the mobile robot and command the snake robot to conduct lateral rolling motions. In this paper, we present the details of our robot and its performance in the World Robot Summit.
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| Keywords | Separable robot
snake robot
mobile robot
urban search-and-rescue
multi-agent system
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| Note | This is an Accepted Manuscript of an article published by Taylor & Francis in Advanced Roboticson Nov. 19, 2019 available online: http://www.tandfonline.com/10.1080/01691864.2019.1691941.
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| Published Date | 2019-11-19
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| Publication Title |
Advanced Robotics
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| Publisher | TAYLOR & FRANCIS
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| ISSN | 0169-1864
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| NCID | AA10679021
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| Content Type |
Journal Article
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| language |
English
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| OAI-PMH Set |
岡山大学
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| File Version | author
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| DOI | |
| Web of Science KeyUT | |
| Related Url | isVersionOf https://doi.org/10.1080/01691864.2019.1691941
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